# Set up environment #args
beacons = [
Beacon(np.array([0.2, 0.2])),
Beacon(np.array([1.2, 0.5])),
Beacon(np.array([0.2, 0.8]))
]
#obstacles = [RectangularObstacle(np.array([[0.75, 0.2], [0.75, 0.4], [0.85, 0.4], [0.85,0.2]], float).T),\
# RectangularObstacle(np.array([[0.5,0.85], [1.15,0.85], [1.15,0.6], [0.5,0.6]], float).T)]
obstacles = []
s = SimEnv2D(bounds=[-0.1, 1.5, -0.1, 1], beacons=beacons, obstacles=obstacles)
x0 = np.array([0, 0.5, 0, 0])
car = SimpleCar(x0)
car.attach_sensor(BeaconSensor(decay_coeff=25), lambda x: x[0:2])
s.add_robot(car)
# Number of timesteps
T = 30 #arg
# Dynamics and measurement noise
num_states = car.NX
num_ctrls = car.NU
num_measure = len(beacons) + 1 #arg/make part of robot observe
Q = np.mat(np.diag([1e-5] * num_states)) #arg
Q[2, 2] = 1e-8 # Gets out of hand if noise in theta or phi
Q[3, 3] = 1e-8 # Can also add theta/phi to measurement like Sameep #TODO?
R = np.mat(np.diag([0.005] * num_measure)) #arg
